Leg's Tip-Ground Contact Detection Based on Drive Currents in a Real Walking Robot

• Autorzy: Wąsik M.

Identyfikatory

DOI

10.14313/JAMRIS_1-2015/8

• Języki publikacji: EN

Abstrakty

EN

To ensure an effective walking over uneven terrain for multilegged walking robots, there is necessary to detect the contact between the leg’s tips and the ground. It is essential to determine the moment when we should end the swing phase of the leg. This paper presents a method of detecting contact with the ground based on total current drawn by the servomotors of each robot’s legs. The method was developed using a 4-legs supported gait on 5-legged walking robot – PentOpiliones. This detection method has been tested and positively verified on a real robot. Also there has been tested the limitation of above method using a gait with different robot postures and different speeds.

Słowa kluczowe

EN

5-legged walking robot; walking on uneven terrain; 4-legs supported gait; ground contact detection; servomotor current; load estimation

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2015
• Tom: Vol. 9, No. 1
• Strony: 62--67
• Opis fizyczny: Bibliogr. 11 poz., rys.

Twórcy

autor

Wąsik M.

• Poznan University of Technology, Institute of Control and Information Engineering, ul. Piotrowo 3A, 60-965 Poznań, www: http://www.cie.put.poznan.pl/

Bibliografia

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